CN106460790A - Wind turbine with floating foundation and position regulating control system and method thereof - Google Patents
Wind turbine with floating foundation and position regulating control system and method thereof Download PDFInfo
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- CN106460790A CN106460790A CN201580019222.0A CN201580019222A CN106460790A CN 106460790 A CN106460790 A CN 106460790A CN 201580019222 A CN201580019222 A CN 201580019222A CN 106460790 A CN106460790 A CN 106460790A
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- wind turbine
- relative motion
- control unit
- turbine structure
- wind
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
- F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D3/00—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor
- F03D3/06—Rotors
- F03D3/062—Rotors characterised by their construction elements
- F03D3/066—Rotors characterised by their construction elements the wind engaging parts being movable relative to the rotor
- F03D3/067—Cyclic movements
- F03D3/068—Cyclic movements mechanically controlled by the rotor structure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
- F03D7/0228—Adjusting blade pitch of the blade tips only
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/30—Wind motors specially adapted for installation in particular locations
- F03D9/32—Wind motors specially adapted for installation in particular locations on moving objects, e.g. vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/4433—Floating structures carrying electric power plants
- B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2240/00—Components
- F05B2240/90—Mounting on supporting structures or systems
- F05B2240/93—Mounting on supporting structures or systems on a structure floating on a liquid surface
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Ocean & Marine Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Wind Motors (AREA)
Abstract
The present invention relates to a wind turbine structure comprising a wind turbine tower with a nacelle arranged on the top to which a rotor hub with one or more rotata- ble mounted wind turbine blades are mounted which form a rotor plane. A floating foundation is mounted to the bottom of the wind turbine tower and the pitch and/or yaw system are used to regulate the position of the wind turbine structure. A control unit detects the relative movement of the wind turbine structure in two axial directions and activates the pitch or yaw system to move the wind turbine structure into an equi- librium position. This reduces the directional movement of the wind turbine structure so that it remains in a stable equilibrium position. This also reduces the oscillating movement and tension forces in the anchor chains.
Description
Technical field
The present invention relates to a kind of wind turbine structure, it includes：
- there is the wind turbine tower of top and bottom,
- it is arranged on the cabin on wind turbine tower top,
- it is rotatably mounted to the rotor hub of cabin,
- one or more pieces variablepiston wind turbine blades, it has blade root that is most advanced and sophisticated and being attached to rotor hub,
- floating ground, it has the top being attached to wind turbine tower bottom, and wherein ground is included for being arranged on
The buoyancy aid of offshore location, and
- there is the mooring system of a plurality of stretched wire mooring line, mooring system is connected to the ground base and is placed on sea bed at least
One anchor, wherein wind turbine structure include at least one and are at least connected with to the control unit of pitch-variable system, this feather
System is used for changing the pitch of wind turbine blade.
The invention still further relates to a kind of method controlling above-mentioned wind turbine structure, wherein the method comprises the following steps：
- when mean wind speed is higher than the first wind speed, the pitch changing wind turbine blade makes it into propeller pitch angle, wherein
Feather by control unit control, and
- predeterminated position at least with respect to the horizontal plane, mobile wind turbine structure.
Background technology
It is known that utilizing mooring system, using some length and the chain of weight connects and is placed in anchor on sea bed and from ground
The mooring line that base stretches out, floating ground is fixed on desired location.This stretched wire mooring system utilizes gravity and sea bed, anchor and portion
Divide the friction between anchor chain that ground is maintained in limited area.Due to acting on various wind-force and ocean on anchored structure
Power (wave and ocean current), floating ground can horizontally and vertically move apart its initial position with respect to sea bed.This relative motion is made
Become some anchor chain tensionings and other anchor chains relax, thus the tension force of each bar anchor chain is different.In the size determining this mooring system
During with weight, anchor chain is key factor due to the tension force that motion produces.
It is known that the ocean power of this low frequency spectrum is likely to the natural frequency sympathetic response with stretched wire mooring system and ground,
When particularly moving segment contact and departing from sea bed (being referred to as to jolt), also it is led to the amplification motion or vibration of anchor chain.Continuously shake
Move and make chain connection and various other chain parts suffer from the constant abrasion being caused by dynamic load.This shortens mooring system
Service life.Due to the corrosive environment of sea water, service life is shortened further.Act on the ocean power also shadow on anchored structure
Sound acts on the conjunction thrust on rotor hub.When wind speed is more than 18-22m/s, such as 20m/s, this can become problem.
Act on the wind-force in rotor plane and depend on wind density, in the size determining this floating ground and weight
When, it is key factor.Its subject matter is, due to acting on the conjunction thrust on rotor hub, wind turbine blade
Feather causes the swing of wind turbine unit to tilt or the rotation of (with respect to horizontal direction) angle.In wind speed more than 10-
During 14m/s, such as 12m/s (also referred to as rated wind speed), this can become problem.
U.S. Patent application US 2011/0037264 A1 discloses a kind of wind turbine being placed in triangular platform, and three
Angle platform is fixed to sea bed by using a plurality of mooring line being each connected with anchor, and anchor is placed on sea bed.Its teaching, due to effect
Various power on ground, floating ground can move with respect to its initial position, and thus changes the tension force of each bar mooring line.
Huge quality is folded down from every mooring line, to reduce the angle that mooring line is with respect to platform vertical direction, and provides
The mooring line of more tensioning.This Weighting system increased the totle drilling cost of structure, produces impact when it clashes into sea bed to anchor chain
Load, and if the composition of sea bed is soft, it is likely to be stuck on sea bed.It is it is also taught that the motion of floating ground is right
The cable putting in sea bed produces significant load and stress.This is next to form cable circle by increasing passive float element for cable
Solve, this can make structure mobile and not damage cable.
U.S. Patent application US 2011/0037264 A1 is taught that, is applied to pretightning force by using clamping system
On every mooring line, subsequently locking clamping system is in this setting.This half tensioning mooring line is intended to increase each anchor
Or the size of anchor block and weight, thus increase the totle drilling cost of structure and it needs to more complicated more expensive scheme.
U.S. Patent application US 2014/0044541 A1 discloses a kind of generating field including multiple wind turbines, often
Platform wind turbine is placed in and is connected on the floating ground of buoy by rotatable support arm, and rotatable support arm further includes to permit
Permitted the hinge that ground and support arm rotate around buoy.The propeller being located at ground basilar parts is used for buoy active rotation ground relatively.
In another embodiment, ground is fixed to sea bed by three mooring lines being each attached to movable pulley.Movable pulley is by for adjusting
The controller of whole wind turbine position carrys out active control, and adjustment is carried out according to the wind direction sensing and wind speed.The document is not
Whether refer to using position sensor.
The conceptual design of U.S. Patent application US 2011/0037264 A1 and US 2014/0044541 A1 is, by inciting somebody to action
Wind turbine moves apart turbulent wind, and the wake effect that reduction wind turbine farm is born is so that generated energy is lifted.Support
The use of arm and buoy increased the complexity of whole system, and only allows wind turbine to do transverse movement with respect to buoy.
In this configuration, with control unit, wind turbine structure is displaced laterally away from wake effect, wind turbine is due to rigidity
Support arm, it will move together with buoy, above-mentioned configuration will bring extra load for it.Movable pulley needs to open mooring line
Tightly, this needs heavier greatly anchor, when wind turbine is mobile, to can compensate for the tension force increasing in mooring line.This
Sample increased the cost of whole system.
Similar mooring system is used for offshore gas and petroleum industry, to fix offshore platform and drilling equipment；However, this
Wind load in a little structures is significantly lower than the wind load on offshore wind turbine.
European patent application EP 2457818 A1 discloses a kind of method reducing floating wind turbine structural vibration,
It, according to the displacement recording using position sensor or real-time speed, runs by controlling the propulsion being arranged on floating ground
Realize.The document is not directed to how to run propeller, to suppress these vibrations.Additionally, EP 2457818 A1 teaches wind-force
The variable pitch control of turbine blade is separate with Solid rocket engine, so power output will not be adversely affected.
Goal of the invention
It is an object of the invention to provide a kind of floating wind turbine configuration, its produced vibration of suppression mooring system
Power.
It is an object of the invention to provide a kind of wind turbine, it achieves active suppression and acts on wind turbine knot
Dynamic force on structure.
It is an object of the invention to provide a kind of method of active accommodation wind turbine position, to suppress wind turbine
The vibration of structure.
Content of the invention
Term " axially-movable " is defined as relative initial position, and wind turbine is along at least in x, y, z axle to appoint
The motion in meaning direction, such as displacement.The Plane of rotation being defined as perpendicular to be determined by wind turbine blade that moves along x-axis
Motion (parallel with prevailing wind direction).It is defined as parallel to move (perpendicular to the prevailing wind direction) of Plane of rotation along moving of z-axis.Edge
The motion of y-axis is defined as parallel to the longitudinal motion of wind turbine tower.X-axis and z-axis determine horizontal plane, and this horizontal plane is used
In the position determining wind turbine structure, such as GPS, x-axis and y-axis determine hanging down of wind turbine structure simultaneously
Face directly.
Term " wind turbine " is defined as rotor (rotor hub and wind turbine blade), cabin and wind-force whirlpool
Turbine tower.Term " wind turbine structure " is defined as wind turbine and floating ground.Term " equilbrium position " defines
Be in the position of balance for acting on the various power in wind turbine structure and thrust, and wind turbine structure be in quiet
State or Quasi-Static Stable.When determining relative moment and various power, between rotor hub or ground and wind turbine tower
Abutment is installed and is used as reference point.Or, the junction point between selected mooring line and ground can be used as reference point.
The purpose of the present invention is realized by a kind of wind turbine structure, and its feature is：
- at least one measuring unit, connects to control unit, and at least one axle measurement wind-force for going up along the horizontal plane
The axially-movable of turbine structure, control unit is used for respect to predeterminated position, determines the relative motion of wind turbine structure,
And
- control unit is additionally operable to, according to relative motion, by thrust on rotor for the adjustment effect, move in the horizontal plane
Wind turbine structure, to suppress the vibration of mooring system.
Which provide the sea that at least can suppress the dynamic of wind turbine structure or shuttling movement in the horizontal plane
Wind turbine structure.Horizontal plane can be defined by the mean water of infield.This makes to be caused by dynamic force or cyclic force
Wind turbine structure opposing displacement movement be suppressed.Wind turbine itself is used for for extra restoring force being applied to wind-force
On turbine structure, so stabilize wind turbine structure.Under the conditions of various wind, wave and ocean current, so keep wind-force
Turbine structure is stablized and is reduced dynamic load.
If using traditional passive mooring system, increasing ballasting by the volume of increase floating ground, for floating ground
Thing or the tension force increasing mooring line, restoring force is directed to wind turbine structure.Different from U.S. Patent application US
2014/0044541 A1, the present invention is using the relative motion of the thrust active suppression wind turbine structure acting on rotor.
By suppressing the orientation shift movement of wind turbine structure, so because travel frequency is away from the resonance frequency of mooring system
Rate, thus inhibit the vibration of anchor chain.Which reduce the constant of mooring system to wear away and extend its service life, also so that anchoring
The size of system and weight can reduce, and thus cost-effective.
This configuration is applied to any type floating ground with least one buoyancy tank or platform.Ground can be concrete
Structure or metal structure, such as steel construction.Ground may include at least three interconnective buoyancy tanks, to constitute desired structure.Ground
Base may be molded to pillar buoy or cylinder, triangle, square or polygonized structure.One or more stable elements, such as plate,
Arm or counterweight, can relatively base fabric put, to increase foundation stability.Stable element is intended to offset the inclination around axle for the wind turbine
Or rotary motion.Buoyancy tank can be ballast case, and ballast case for example connects to ballast adjustment device, ballast adjustment device
It is such as pumping system.
Mooring system include at least three protruding and connect to the mooring line of corresponding anchor, such as stretched wire anchor from ground
Pool line.Mooring line also may be disposed so that single group, and these groups are connected with ground at single junction point.Each anchor and at least one
Root anchor chain connects, and the anchor chain other end is directly connected to ground or connects ground by the mooring line of Second Type.Big and heavy metal
Anchor chain, for example, be made up of steel or other suitable materials, be at least connected with anchor.Thinner lighter anchor chain and/or nylon, mould
Material, polyester, synthetic fibers or the line that arbitrarily other suitable materials are made or rope may be connected to ground and heavier greatly anchor
Chain.Result in formation of the mooring line at least with two sections, each section has preset quality and weight, thus, with respect to acting on
Power frequency spectrum in wind turbine structure is so that the distribution of weight of mooring system and restoring force or rigidity are optimized.
In one embodiment, control unit is used for determining in the first direction and a second direction tension force or relative motion.
Measuring unit measures the current location of mooring system and wind turbine structure with respect to reference point.This makes to control
Unit processed can detect wind turbine any axially-movable at least in the horizontal plane, such as along same axis, such as x-axis or z
Two rightabouts of axle, and/or along two axles, the such as motion of the both direction of x-axis and z-axis orthogonal directions.This makes
Any vibration of control unit detection or shuttling movement, these vibrations or shuttling movement will cause wind turbine structure relatively fast
Change its position fastly.If detecting relative motion in control unit window when default at least two directions, then control
Unit activating pitch-variable system and/or yaw system offset this motion.If the control unit detects that wind turbine structure is big
Cause only to move in one direction, then do not activate pitch-variable system and/or yaw system.In suppression vibration, above-mentioned configuration
Make wind turbine structure due to acting on the balance position that the various static force in wind turbine structure go up in any direction
Move between putting.
Additionally, according to the tension force at least recording in one or more mooring line, control unit can determine that wind turbine is tied
The relative motion of structure, vice versa.The axially-movable of wind turbine structure can be directly proportional to the tension force of each bar mooring line.Measurement
Unit can measure at least two directions, such as along the tension force of x-axis and z-axis, so that control unit can detect anchor chain
Any oscillating load or cyclic loading, these load can cause constant abrasion to anchor chain.The direction of these tension force is used for determining
Wind turbine structure should move to which direction.
Control unit can when window in monitor relative motion, this when window be defined as with regard to impact rotor plane wind speed and/
Or the function of wind turbine structure translational speed.This when window be smaller than 3 minutes, preferably between the 10-120 second.
In a specific embodiment, control unit is used for tension force or relative motion at least one direction, and extremely
A few threshold value is compared, if wherein tension force or relative motion exceed this threshold value, control unit is used for Accommodation and is turning
Thrust on son.
If relative motion in one or both directions exceedes predetermined threshold value, this enables wind turbine to adjust
Its geographical position.Threshold value in both direction can be identical or different from each other.Threshold value can be identified as the wind with regard to impulse force rotor plane
Speed and/or the function of wind turbine structure translational speed.Additionally, threshold value can select between 50-200 centimetre, such as 100 lis
Rice.This makes wind turbine structure move in default geographic area, and wherein wind turbine is according to maximum generating watt plan
Run.If wind turbine move/is drifted away from this region, then pitch-variable system and/or yaw system active are by wind-force
Turbine structure is moved into this region again.Threshold value and when the relative motion that can be additionally used in as wind turbine structure of window define maximum
Permissible velocity.When suppressing any quick motion, due to effect power in structure, this enables wind turbine structure slow
Speed moves back and forth.
Control unit can additionally or optionally by the tension force on one or two direction recording or calculated with
One or more threshold values are compared.Threshold definitions are with respect to the maximum allowable position of wind turbine structure initial position.
If at least one tension force exceedes threshold value, then pitch-variable system and/or yaw system are activated, to suppress opening of mooring line
Tightly.When the externally-located position of wind turbine structure, which reduce the maximum tension of anchor chain.Additionally, so extending anchoring
The service life of system simultaneously makes wind turbine structure move in predeterminable area.
In one embodiment, control unit is used for determining correction propeller pitch angle according to tension force or relative motion.
This configuration makes the pitch-variable system of wind turbine can be used in moving/promote wind-force along x-axis and/or z-axis
Turbine structure.In this configuration, control unit may act as wind turbine control unit, for controlling wind turbine to transport
OK.Or, control unit can be connected to single wind turbine control unit by wired or wireless connection.Control unit
For adjusting the propeller pitch angle of wind turbine blade according to relative motion, this can thrust on rotor hub for the adjustment effect.This
Plant correction propeller pitch angle and indicate the direction that wind turbine structure is movement required for suppression vibration.Then, correction propeller pitch angle passes
Deliver to pitch-variable system, this pitch-variable system accordingly adjusts propeller pitch angle.If need not correct, then the optimal oar of maximum generating watt
Elongation can transmit to pitch-variable system.Correct pitch for the vibration reducing on wind turbine relative motion and anchor chain
Angle, can be identical or different with the optimal propeller pitch angle of maximum power output.Which reduce needed for mobile wind turbine structure
Additional component quantity, this is because wind turbine itself is used for moving wind turbine structure, thus, it is possible to existing
Simply implement on floating wind turbine.
Look-up table according at least to wind direction measurement and/or mean wind speed or Continuous plus can be used for determining maximum generating watt
First propeller pitch angle.Another look-up table or Continuous plus according at least to the motion measured by wind turbine or tension force can be used for really
Surely reduce the second propeller pitch angle of wind turbine structure relative motion.In an exemplary embodiment, passing to pitch-variable system
Before sending activation instruction, can be in conjunction with the first propeller pitch angle and the second propeller pitch angle.
In one embodiment, control unit connects to yaw system, for wind turbine tower driftage cabin relatively, its
Middle control unit is used for determining correction yaw angle according to tension force or relative motion.
Alternatively, or in addition, the yaw system of wind turbine is used for moving/promote wind turbine along x-axis and/or z-axis
Machine structure.Control unit is used for adjusting the yaw angle of wind turbine blade according to relative motion, and such adjustment effect is in rotor
Thrust on wheel hub.Correction yaw angle, such as yaw error, instruction wind turbine is the side of movement required for suppression vibration
To.Then, correction yaw angle is sent to yaw system, and this yaw system accordingly adjusts yaw angle.If need not correct, then partially
Boat system by Rotor Yaw to being directed at prevailing wind direction, for example vertical with wind direction.Correction yaw angle can be by control unit according to for example
The wind turbine structure relative motion that records by look-up table or Continuous plus or record/calculated tension force to determine.
The correction yaw angle reducing wind turbine structure relative motion can be identical or different with the optimal yaw angle of maximum generating watt.This
Make wind turbine yaw and/or feather to optimum position, subtracted in the relative motion of this position wind turbine structure
Few.
Or, arrange one or more position regulating units with respect to ground, for along at least one axially by restoring force
It is applied in wind turbine structure.Preferably two or more position regulating units can be arranged on ground, or they are integrated
To in ground, to better control over motion, this makes wind turbine structure at least two axially, such as move in x-axis and z-axis
Dynamic.Position regulating unit can be propeller, water jet, propeller or any other suitable position regulating units.Position
Adjustment unit can be passed through wired or wireless connection by control unit and control, for example, individually control or become to control one or more groups ofly.
If it is desired, the rotation of propeller or propeller can be inverted.Compared with using pitch-variable system or yaw system, it is achieved in that
Faster, more energy efficient wind turbine structure move mode.
In a specific embodiment, measuring unit is arranged with respect to mooring system, and control unit is additionally operable to determine extremely
Few：
The tension force of-at least one mooring line,
The angle of-this at least one mooring line, or
The elastic recovery of-this at least one mooring line, such as relative motion.
Measuring unit can be the tonometry unit of load transducer, tonometer or deformeter form, each for measuring
The tension force of bar mooring line.Tonometry unit may also include integrated angle sensor or inclinometer, for measuring the angle of mooring line
Degree.This enables tension force and angle to measure by using individual unit.
Another measuring unit can be used for the reference axis at respect to such as junction point, measures the angle of each bar mooring line, example
As inclination angle.Measuring unit can be single inclinometer or angular transducer.Then measuring unit can be utilized the angle recording true
The tension force of fixed/each bar mooring line of calculating.
Also have another measuring unit can be used for, the such as sensor by one or more type or transducer, directly or
The parameter of the one or more elastic recovery indicating each bar mooring line of measurement indirectly.Measuring unit can apply to measurement elasticity
The sonar of reply, depth/pressure transducer, vibrating sensor, motion sensor, accelerometer, gyroscope are (for example based on GPS's
Gyroscope) or other measuring units.Control unit can be additionally used according to the data recording from this measuring unit, determines that elasticity is returned
Multiple.Elastic recovery may be used to indicate the feature of mooring line or calculates tension force or the horizontal displacement of mooring line.
Can be along the two or more measuring unit of mooring line distribution of lengths.Measuring unit can be by wired or wireless connection, even
It is connected to control unit.Additionally, measuring unit may be arranged between ground and mooring line, or between two sections of connections of mooring line.
In one embodiment, measuring unit is arranged with respect to wind turbine structure, for measuring wind turbine structure
Position, such as GPS or local position.
Measuring unit can be global positioning system (GPS) receptor, DGPS (DGPS) receptor, complete
Ball navigational satellite system (GNSS) receptor or the position sensor of any other types position sensor form.Wind turbine
The initial position of structure can determine according to installing, and stores in control unit.Resolution/the essence of selectable position unit
Degree, so can sense wind turbine in some rice, such as in 1 or 2 meter, or in some centimetres in such as 10 centimetres
The position of machine.Position sensor is used for along x-axis and z-axis or all three axle sensing the feedback of positions.This makes control unit determine wind-force
The position of turbine, and according to initial position along shaft detection any axial motion.
Additionally, local positioning system (LPS) can determine the geographical position of wind turbine structure.Locally-located unit sets
Put in wind turbine structure, communicate with one or more quiet pedestal/reference unit.Then, locally-located unit can be utilized
Triangulation, trilateration, repeatedly modification or other technologies are determining the position of wind turbine structure.
Control unit can be additionally used in determining the inclination/rotation fortune of wind turbine according to the signal from position sensor
Dynamic.This makes control unit can also reduce the wind turbine caused by the various thrusts acting in wind turbine structure
Machine tilts or vibrates.
In one embodiment, a piece of at least within wind turbine blade includes thering is the interior of the first aerodynamic profile
Blade-section and the outer blade section with the second aerodynamic profile, wherein pitch-variable system are placed in two blade-sections
Between, when wind speed is more than the first wind speed, it is used for changing the pitch of outer blade section with respect to inner blade portion.
This configuration is applied to conventional variable pitch wind turbine blade and has local feather wind-force whirlpool
The wind turbine of turbine blade.Each length is at least 35 meters for two panels or three wind turbine blades, can become rotor
Part.Inner blade portion can have the first aerodynamic profile, such as stall-adjusted type face；And outer blade section can have
Two aerodynamic profile, such as pitch adjustment type face.First wind speed can determine that the rated output power of this wind turbine.Than
Play traditional pitch-regulated wind turbine, particularly when wind speed exceedes rated wind speed, local feather wind turbine pair
Act on the thrust on rotor hub and provide and more preferably more effectively control.
The purpose of the present invention also can be realized by a kind of control method, and its feature is：
- level measurement wind turbine structure axially-movable,
- determine the relative motion of wind turbine structure, and
- the step that wherein moves wind turbine structure includes, and is tied in wind turbine according to relative motion adjustment effect
Thrust on structure, to suppress the vibration of mooring system.
Under various wind and ocean condition, this provides one kind at least suppressing wind turbine structure in the horizontal plane
Dynamic or shuttling movement.This makes the vibration of anchor chain be suppressed, thus reducing its constant abrasion, so extends mooring system
Service life.Wind turbine itself is used for extra restoring force or thrust being applied to wind turbine structure, so
Stabilize wind turbine structure and suppress the vibration of wind turbine structure.
Compared with traditional grappling floating ground, this be configured to reduce axially-movable provide more preferable more effective way.
In the past, tension leg was used for limiting the axially-movable of wind turbine structure；However, these tension legs are not suppression level face axle
There is provided gratifying scheme to motion.Compared with the mooring system of suppression motion passive known to other, basis is passed through in this configuration
The relative motion adjustment propeller pitch angle of wind turbine structure and/or yaw angle, carry out thrust on rotor hub for the adjustment effect, by
The vibration of this active suppression mooring system.
In one embodiment, determine that the step of relative motion includes determining in the first direction and a second direction or calculates phase
To motion.
So inhibit the wind-force whirlpool due to acting on the various dynamic force in wind turbine structure or cyclic force is led to
The regular orientation shift movement of turbine structure.This further suppresses the vibration of anchor chain so that constant abrasion reduce.Due to effect
Static(al) in wind turbine structure or mean force, this configuration makes wind turbine structure with respect to its initial position,
Move between the equilbrium position gone up in any direction.Once the motion at least two axial directions is detected, restoring force is applied
In wind turbine structure, so offset vibration or shuttling movement.Which decrease the load that wind turbine structure is born
Lotus.
By using the one or more measuring units being arranged on wind turbine structure or mooring system, such as position
Unit, direct measurement axially-movable.Position units measure geographical position, and control unit determines the relative fortune of wind turbine structure
Dynamic.Or, by using one or more measuring units of mooring system arrangement relatively, such as tonometry unit, measurement
Power.Then, axially-movable can be calculated by the function of the anchoring line tension with regard to recording.This enables control unit to monitor
Tension force in the relative motion of wind turbine structure and/or mooring line.
In a specific embodiment, tension force or relative motion, such as, in window when default, compared with least one threshold value
Relatively, and if it exceeds the threshold, then adjust thrust.
This configuration enables control unit to detect any quick motion, and these motions are typically led to that wind turbine is tied
Structure at least relatively quickly changes its position in horizontal plane, thus bringing significant load for wind turbine.Preferably, control
Unit monitors are along the relative motion of x-axis and z-axis, and each relative motion at least both direction and each threshold value are compared
Relatively.If in window when this, in the range of relative motion is maintained at and is determined by threshold value, then the uncomfortable whole wind turbine of control unit
The propeller pitch angle of machine and/or yaw angle, and wind turbine can be with any direction towards equilbrium position movement.This makes to become oar
Rotor/wind turbine blade can be placed in the optimal propeller pitch angle and/or of maximum generating watt away from system and/or yaw system
Good yaw angle.And, control unit can monitor the speed of wind turbine structure movement.If the speed recording is maintained at less than
By when window and speed determined by threshold value, then propeller pitch angle and/or yaw angle will not be adjusted by control unit.If relative motion surpasses
Cross scope or threshold speed, then control unit generates correction propeller pitch angle and/or correction yaw angle, is respectively sent to become oar
Away from system and yaw system, so accordingly adjustment pitch and driftage.So restoring force is applied in wind turbine structure, supports
Disappeared the dynamic of anchor chain or shuttling movement and vibration.
Control unit also can monitor the current location that wind turbine is with respect to default reference position, to determine wind turbine
The geographical displacement of machine structure, described default reference position can be, for example, wind turbine structure initial position or anchor point.
If this displacement exceedes another threshold value along the wherein either direction of an axle, then control unit adjusts the oar of wind turbine
Elongation and/or yaw angle, to import restoring force, so by wind turbine structure to its initial position and/or another balance position
Put movement.If wind turbine does not move on to outside the region set by threshold value, wind turbine can be in maximum generating watt
Run under optimal propeller pitch angle and/or optimal yaw angle.Move with respect to anchor chain with wind turbine, this makes the maximum of anchor chain
Tension force reduces.
Or, control unit is monitored the tension force of mooring system and is compared it with one or more predetermined threshold value.As
Fruit exceedes threshold value, then correction propeller pitch angle and/or yaw angle, and new position shifted to by wind turbine.If the tension force recording
It is maintained at less than threshold value, then do not correct propeller pitch angle and/or yaw angle.This also makes the maximum tension of anchor chain reduce.
In one embodiment, at least a portion of wind turbine blade according to relative motion feather to optimal pitch
Angle, and/or cabin goes off course to optimal yaw angle according to relative motion.
Feather make the wind thrust acting on rotor hub be used for along x-axis and z-axis towards its initial position or its
He moves/promotes wind turbine structure in equilbrium position.Feather can be implemented by pitch-variable system, wherein control unit such as root
According to the wind speed recording and/or wind direction, determine the correction propeller pitch angle of maximum generating watt and/or optimal propeller pitch angle.Each propeller pitch angle can
Determined according to look-up table or drawn by Continuous plus.Which reduce the appendix number of packages needed for mobile wind turbine structure
Amount, and control method is implemented on existing floating wind turbine.
In an exemplary embodiment, control unit determines correction yaw angle always according to relative motion.This enables rotor
Enough go off course in either direction, and thus move/rotate wind turbine structure using the wind thrust acting on rotor.Pass through
Rotor plane is gone off course to outside wind direction, for example, with respect to prevailing wind direction, rotor plane is placed at yaw error, this makes to work as
Wind turbine blade windward when, aerodynamic loading increases, and when subsequently leeward, aerodynamic loading reduces, so that wind turbine
Structure rotates around its y-axis.Each yaw angle can determine according to look-up table or be drawn by Continuous plus.This enables control unit
Wind turbine blade and cabin are placed in its initial position or another equilbrium position are shifted to/push to wind turbine structure
Optimum position.
Correction yaw angle and/or correction propeller pitch angle determine according to the mooring system tension force recording.Tension force can be according to relatively
Move, to calculate by using Continuous plus or look-up table.When determining correction propeller pitch angle and/or correction yaw angle, survey
The wind speed obtaining and/or wind direction can be used as parameter.
In one embodiment, the step of measurement axially-movable at least includes：
The tension force an of-measurement at least mooring line,
- measure the angle of this at least mooring line, or
- measure the elastic recovery of this at least mooring line, such as relative motion.
Measuring unit measurement tension force or relative motion using one or more tonometry units or position units form.
Measuring unit or other measuring units also can measure the inclination angle of mooring line or the parameter of instruction mooring line elastic recovery.Then, root
Determine according to the data recording from these measuring units or calculate tension force.This enables to indicate the multiple parameters of mooring system feature
Measurement obtains simultaneously, thus achieves more accurately tension force and calculates or Relative motion control.
In one embodiment, by the mooring system including a plurality of stretched wire mooring line, wind turbine structure is anchored into sea
On bed, wherein one or more elements, such as weight element, it is arranged on mooring system, to reduce mooring system at least
The motion dividing.
This control method by using any amount, for example, at least two weight elements with default size and weight,
The vibration enabling one or more mooring line is cut in.Weight element can be along the distribution of lengths of mooring line, and/or edge
A plurality of mooring line arrangement is in a row or multirow.Weight element is preferably hung from the position between ground and sea bed.Weight element can
It is shaped to circular element, mooring line runs through its extension；Balancing weight from mooring line hang and/connect to mooring line；Have arbitrarily
The either end of the chain/bendable of the chain of quantity/flexible connector connects to the first mooring line and the second mooring line；Or join
Weight element is shaped to other suitable shapes any.This makes at least most external of mooring line be maintained on sea bed and thus act as
Second anchor.Weight element reduces ground perpendicular bisector and the angle between the outwardly directed mooring line of ground, and increases
The pretightning force of mooring line.Which increase restoring force or the rigidity of mooring system, thus suppress the motion of wind turbine structure.
By using any amount, for example, at least one float element, reduce the motion of cable.Float element can be along cable
Distribution of lengths, and/or along a plurality of cable arrangements in a row or multirow.Float element is set to preset shape or big
Little, and there is buoyancy.This makes when the cut cable arranged towards ground is allowed to move together with ground, extend into sea bed or
The cut cable extending along sea bed is generally kept at same position.Or, pump can be arranged in one or more float element to adjust
Save the buoyancy of this element, such as by sea water is pumped into out part equipped with air or other compression media, the such as chamber of gas
Interior.The operation of pump can by control unit control so that with respect to wind turbine structure axially-movable, individually adjust or become
Group adjusts the position/depth of float element.Float element be can be used for substituting weight element or is combined with weight element, to reduce anchor
The motion of pool line.Float element is connected to mooring line it is meant that most of restoring force is by between ground and float element
Anchoring line segment provide.
Brief description
Only by way of example, and describe the present invention with reference to the accompanying drawings, wherein：
Fig. 1 shows that the present invention is arranged on the one exemplary embodiment of the wind turbine on floating ground；
Fig. 2 is illustrated as connected to the first embodiment of the mooring system of the wind turbine structure shown in Fig. 1；
Fig. 3 is illustrated as connected to the second embodiment of the mooring system of the wind turbine structure shown in Fig. 1；
Fig. 4 shows that the horizontal direction GPS of wind turbine is first exemplary for vertical direction GPS
Curve chart；
Fig. 5 shows the second exemplary plot of the GPS shown in the Fig. 4 in time domain；And
Fig. 6 shows the 3rd exemplary plot with respect to horizontal GPS for the anchorage force of mooring system.
Hereinafter, accompanying drawing will be described one by one, and all parts shown in accompanying drawing and position in the drawings will be with phases
Same sequence number marks.In certain figures, and the part shown in not all and position all must be described with this accompanying drawing in the lump.
Specific embodiment
1. wind turbine
2. ground
3. wind turbine tower
4. cabin
5. yaw system
6. rotor hub
7. wind turbine blade
8. most advanced and sophisticated
9. blade root
10. pitch-variable system
11. blade sections
12. buoyancy aids
13. sea level
14. mooring systems
15. sea beds
16. mooring lines
17. anchors
18. weight elements
19. cables
20. first float element
21. propellers
22. second float element
23. first curves
24. horizontal movements
25. vertical movements
26. second curves
27. the 3rd curves
28. anchorage forces
Fig. 1 shows that the present invention is arranged on the one exemplary embodiment of the wind turbine 1 on floating ground 2.Wind turbine
Machine 1 includes wind turbine tower 3, and wind turbine tower 3 has the bottom being attached to ground 2 top.Cabin 4, for example logical
Cross yaw system 5, be arranged in the top of wind turbine tower 3.Rotatable rotor connects to cabin 4, and includes being connected with
The rotor hub 6 of two panels or multi-disc wind turbine blade 6.Every wind turbine blade 7 includes most advanced and sophisticated 8 and connects to rotor
The blade root 9 of wheel hub 6.Pitch-variable system 10 is placed between blade root 9 and rotor hub 6, or as shown in figure 1, is placed in the first blade sections
Between 11a and the second blade sections 11b.First blade sections 11a have the first aerodynamic profile, such as stall-adjusted type face,
And the second blade sections 11b have the second aerodynamic profile, such as pitch adjustment type face.The feather of wind turbine 1 and/
Or driftage is controlled by control unit (not shown).
Floating ground 2 includes buoyancy aid 12, for example, slender bodiess and/or cylinder, for being partially or even wholly dipped into water
Under face 13.Buoyancy aid 12 includes the floating chamber of at least one ballast box-shaped formula, and it is at least partly filled with ballast materials, for example
Water, rock, sand/rubble, concrete, metal or other suitable ballast materials.Or, the top of buoyancy aid 12 includes closing
, be filled with gas medium, the such as chamber of air, helium or other suitable gas.Top is included for by wind turbine tower
Frame 3 bottom is attached to the erecting device of ground 2.Buoyancy aid 12 is made up of ferrum, steel, concrete or other suitable materials.
Mooring system 14 is connected to the ground base 2, and wind turbine structure is fixed on the infield of sea bed 15.Anchoring
System 14 includes at least three mooring lines 16 stretching out from ground 2.Every mooring line 16 one end is connected to the ground base 2, and the other end is even
It is connected to anchor 17.Mooring line 16 can be by metal, the anchor chain of the big and weight that such as steel is made.Anchor 17 is drinking water anchor or similar type
Anchor, when it is mobile, using frictional force, wind turbine structure is fixed on sea bed 15.
Fig. 2 is illustrated as connected to the first embodiment of the mooring system 14 of the wind turbine structure shown in Fig. 1.Balancing weight
One or more weight elements 18 of form are along the distribution of lengths of at least one of mooring line 16.Each weight element 18 is pre-
If position from each bar mooring line 16 hang and.Tension force is applied to the penetralia of mooring line 16, such as counterweight by weight element 18
Line segment between element 18 and ground 2, makes the most external of mooring line 16, the such as line segment between counterweight 18 and anchor 17 simultaneously,
It is maintained on sea bed 15, thus act as second anchor.So counteract the relative motion of wind turbine structure and increase anchor
The restoring force of pool line 16.
Least one set cable 19 is protruding from ground 2, puts in sea bed 15 or extends along sea bed 15.One or more first
Float element 20 along the distribution of lengths of cable 19, for example, is arranged with embarking on journey.Each float element 20 in row has default shape
Shape or size, and there is buoyancy.Because wind turbine structure moves back and forth, which reduce the motion of cable 19, especially
Transitional region in conductive cable contacts to sea bed 15.
At least one e.g. rotatably angle of rake propeller form position regulating unit 21 be arranged in the bottom of ground 2
Portion.Position regulating unit 21 connects to the control unit controlling it to run.Control unit connects to positioned at wind turbine structure
On, such as at least one sensor unit on ground 2 or cabin 4.Sensor unit can be gps receiver, for detecting
The GPS of wind turbine structure, such as along the position on all three axles.Control unit is using from sensor unit
Signal determining wind turbine structure at least in two different directions, such as along the opposite direction of x-axis or y-axis or it is any
Relative motion on bonding position.In control unit window when default, the such as 10-120 second monitors relative motion.Then, one
The motion recording in individual or both direction and predetermined threshold value, such as 50-200 centimetre is compared.If when window in record
At least in one direction move past threshold value, then activation position regulating unit 21.If the motion recording is less than threshold value,
So do not activate position regulating unit 21.This makes wind turbine structure shift to equilbrium position, wind-force on this equilbrium position
Turbine structure is stable.The suppression of this control method any due to acting on the dynamic force in wind turbine structure or following
The fast vibration that ring power is led to.
Fig. 3 is illustrated as connected to the connection shown in Fig. 1 to the second embodiment of the mooring system 14 of wind turbine structure.
In the present embodiment, weight element 18 is substituted by any number of second float element 22.The shape of the second float element 22, big
The shape of little or buoyancy and the first float element 20, size or buoyancy are different.This makes the most external of mooring line 16 generally remain
On sea bed 15, and when the penetralia of mooring line 16 can be moved together with wind turbine structure, serve as anchor.Penetralia is used
In the restoring force providing major part to be transferred to ground 2, the restoring force that the restoring force that is, it is provided is provided more than most external.
Fig. 4 shows that to have wind turbine structure GPS in the horizontal plane complete in vertical with respect to it
The figure of the first exemplary graph 23 of ball position.The x-axis that this has the figure of curve 23 represents the axial direction fortune along x-axis in the horizontal plane
Dynamic 24.The y-axis that this has the figure of curve 23 represents the axially-movable 25 in vertical along y-axis.Curve 23 shows wind-force whirlpool
Turbine 1 is the wave of 20m/s by mean wind speed and when wind is affected, the GPS running under rated power output.?
In the present embodiment, position regulating unit 21 is not activated.As shown in curve 23, wind turbine structure is substantially along x-axis distance
Mobile 24 in the range of+6 to+20 meters of its initial position, simultaneously wind turbine structure substantially along y-axis apart from its initial bit
Put mobile 25 in the range of -1 to+1 meter.The motion 24,25 of wind turbine structure changes direction within the scope of this two for several times.
It is contemplated that offset the direction of these constant displacement using position regulating unit 21.
Fig. 5 shows second demonstration in horizontal plane and vertical with GPS shown in Fig. 4 in time domain, simultaneously
The figure of linearity curve 26.As shown in curve 26, the power in wind turbine structure that acts on makes it with relatively rapid vibration/circulation
Mode moves, and this mode constantly moves backward wind turbine structure.If control unit detects quick motion with regard to this
(when window in, relative motion exceedes threshold value), then activation position regulating unit 21 to suppress this vibration/shuttling movement.
Fig. 6 shows there is with respect to the horizontal plane interior GPS, such as relative motion, the reply of mooring system 14
The figure of the 3rd exemplary graph 27 of power, such as tension force.The x-axis that this has the figure of curve 27 represents in the horizontal plane along x-axis
Axially-movable 24, and y-axis represents the power 28 that mooring line 16 is born.As shown in curve 27, towards the anchoring of windward position shown in Fig. 1
The restoring force F that line is bornxMotion 24 substantially with horizontal plane, for example, 24 be directly proportional along moving of x-axis.So illustrate to pass through
The dynamic motion of suppression wind turbine structure, position regulating unit 21 can be used for suppressing the vibration of mooring line 16.
In this configuration, control unit calculates opening of mooring line 16 according to the relative motion 24 of wind turbine structure
Power.Then, calculate the gained tension force of for example each bar mooring line, be compared with predetermined threshold value.If calculate gained tension force being higher than
Threshold value, then control unit determines the optimal propeller pitch angle of wind turbine blade 7.Then wind turbine blade 7 feather arrives
Optimal propeller pitch angle is so that wind turbine structure moves on to the another location that the maximum tension of the mooring line 16 of tensioning reduces.
Claims (14)
1. a kind of wind turbine structure, it includes：
- there is the wind turbine tower of top and bottom,
- it is arranged on the cabin on wind turbine tower top,
- it is rotatably mounted to the rotor hub of cabin,
- one or more pieces variablepiston wind turbine blades, it has blade root that is most advanced and sophisticated and being attached to rotor hub,
- floating ground, it has the top being attached to wind turbine tower bottom, and wherein ground is included for installing at sea
The buoyancy aid of position, and
- there is the mooring system of a plurality of stretched wire mooring line, mooring system is connected to the ground base and at least one is placed on sea bed
Anchor,
- wherein wind turbine structure includes at least one and is at least connected with to the control unit of pitch-variable system, described feather
System is used for changing the pitch of wind turbine blade,
It is characterized in that
- at least one measuring unit, connects to control unit, and at least one axle measurement wind turbine for going up along the horizontal plane
The axially-movable of machine structure, control unit is used for respect to predeterminated position, determines the relative motion of wind turbine structure, and
- control unit is additionally operable to, according to relative motion, by thrust on rotor for the Accommodation, move wind-force in the horizontal plane
Turbine structure, to suppress the vibration of mooring system.
2. wind turbine according to claim 1 is it is characterised in that control unit is used in a first direction and second party
Determine relative motion upwards.
3. wind turbine according to claim 1 and 2 it is characterised in that control unit be used for by relative motion with extremely
A few threshold value is compared, if wherein relative motion exceedes described threshold value, control unit is used for Accommodation in rotor
Thrust.
4. the wind turbine according to any one of claim 1-3 is it is characterised in that control unit is used for according to relatively
Motion determines optimal propeller pitch angle.
5. the wind turbine according to any one of claim 1-4 is it is characterised in that control unit is additionally coupled to go off course
System, for wind turbine tower driftage cabin and rotor relatively, wherein control unit is used for being determined according to relative motion
Good yaw angle.
6. the wind turbine according to any one of claim 1-5 is it is characterised in that described measuring unit is with respect to anchor
Pool system is arranged, and control unit is additionally operable to determine at least：
The tension force of-at least one mooring line,
The angle of-described at least one mooring line, or
The elastic recovery of-described at least one mooring line, such as relative motion.
7. the wind turbine according to any one of claim 1-6 is it is characterised in that described measuring unit is with respect to wind
Power turbine structure is arranged, for measuring the position of wind turbine structure, such as GPS or local position.
8. the wind turbine according to any one of claim 1-7 is it is characterised in that at least a piece of wind turbine leaf
Piece includes the inner blade portion with the first aerodynamic profile and the outer leafs portion with the second aerodynamic profile
Point, wherein pitch-variable system is placed between two blade-sections, and when wind speed is more than the first wind speed, it is used for respect to intra vane
Part changes the pitch of outer blade section.
9. a kind of method controlling the wind turbine structure for example according to any one of claim 1-8, wherein said
Method comprises the following steps：
- when mean wind speed is higher than the first wind speed, the pitch changing wind turbine blade makes it into propeller pitch angle,
- predeterminated position at least with respect to the horizontal plane, mobile wind turbine structure,
It is characterized in that
- level measurement wind turbine structure axially-movable,
- determine the relative motion of wind turbine structure, and
- the step that wherein moves wind turbine structure is included, according to relative motion adjustment effect in wind turbine structure
Thrust on rotor, to suppress the vibration of mooring system.
10. method according to claim 9 it is characterised in that determine relative motion step include in a first direction and
Relative motion is determined on second direction.
11. methods according to claim 10 it is characterised in that relative motion is compared with least one threshold value, and
And if it exceeds the threshold, then adjust the thrust on rotor.
12. methods according to any one of claim 9-11 are it is characterised in that at least one of wind turbine blade
Divide according to relative motion feather to optimal propeller pitch angle, and/or cabin is gone off course to optimal yaw angle according to relative motion.
13. methods according to any one of claim 9-12 are it is characterised in that the step of measurement axially-movable is at least wrapped
Include：
The tension force an of-measurement at least mooring line,
The angle of an at least mooring line described in-measurement, or
The elastic recovery of an at least mooring line, such as relative motion described in-measurement.
14. methods according to any one of claim 9-13 are it is characterised in that wind turbine structure is many by including
The mooring system of bar stretched wire mooring line is anchored on sea bed, and wherein one or more elements, such as weight element are arranged on anchoring
In system, to reduce at least one of motion of mooring system.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA201470213 | 2014-04-14 | ||
| DKPA201470213 | 2014-04-14 | ||
| PCT/DK2015/050065 WO2015158348A1 (en) | 2014-04-14 | 2015-03-24 | Wind turbine with floating foundation and position regulating control system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106460790A true CN106460790A (en) | 2017-02-22 |
| CN106460790B CN106460790B (en) | 2019-02-01 |
Family
ID=59015783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580019222.0A Active CN106460790B (en) | 2014-04-14 | 2015-03-24 | The wind turbine structure control system and its method adjusted with floating ground and position |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20170037832A1 (en) |
| EP (1) | EP3132139A1 (en) |
| JP (1) | JP2017515033A (en) |
| CN (1) | CN106460790B (en) |
| WO (1) | WO2015158348A1 (en) |
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| CN112534134A (en) * | 2018-07-20 | 2021-03-19 | 艾罗丁咨询新加坡私人有限公司 | Single point mooring wind turbine |
| CN115142463A (en) * | 2022-02-07 | 2022-10-04 | 谢沛鸿 | Method for building marine traffic track suspended under offshore floating body platform |
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| DE102015122126A1 (en) * | 2015-12-17 | 2017-06-22 | Wobben Properties Gmbh | Method for determining an azimuth angle of a wind energy plant |
| US10260481B2 (en) * | 2016-06-28 | 2019-04-16 | General Electric Company | System and method for assessing farm-level performance of a wind farm |
| CN106089577B (en) * | 2016-07-26 | 2018-07-10 | 重庆大学 | The floating Wind turbines off-load method controlled based on TMD and active anchor chain structure |
| US10035566B2 (en) * | 2016-10-12 | 2018-07-31 | Cutting Edge Innovations, Llc | Multi-anchoring depth control system |
| PT3548740T (en) | 2016-11-29 | 2023-04-11 | Hywind As | Control system for a floating wind turbine structure |
| US10310516B2 (en) * | 2017-04-09 | 2019-06-04 | Makani Technologies Llc | Systems and methods for yaw control of offshore platform |
| CN109578208B (en) * | 2017-09-29 | 2019-12-20 | 新疆金风科技股份有限公司 | Wind generating set and yaw control method and device thereof |
| CN107906165B (en) * | 2017-11-09 | 2023-11-14 | 大连理工大学 | Active damping device suitable for installation of offshore single pile type fan |
| CN108561279A (en) * | 2018-04-11 | 2018-09-21 | 江苏艮德电力设备有限公司 | A kind of offshore wind farm group remote monitoring system |
| US10808374B2 (en) * | 2018-05-03 | 2020-10-20 | University Of Massachusetts | Foundation and deflection monitoring device |
| ES2926588T3 (en) * | 2018-06-18 | 2022-10-27 | Vestas Wind Sys As | A method of operating floating offshore wind turbines |
| US11754051B2 (en) * | 2019-03-05 | 2023-09-12 | Blue-Wind As | Floating windmill installation |
| DE102019118103A1 (en) * | 2019-07-04 | 2021-01-07 | Rwe Renewables Gmbh | Maritime float |
| EP3782899A1 (en) * | 2019-08-20 | 2021-02-24 | Siemens Gamesa Renewable Energy A/S | Control system for stabilizing a floating wind turbine |
| EP3783221A1 (en) * | 2019-08-22 | 2021-02-24 | Siemens Gamesa Renewable Energy A/S | Control system for positioning at least two floating wind turbines in a wind farm |
| EP3943747A1 (en) * | 2020-07-24 | 2022-01-26 | Siemens Gamesa Renewable Energy A/S | Monitoring of mooring lines of a floating wind turbine |
| CN113513452B (en) * | 2021-08-20 | 2023-08-29 | 中国华能集团清洁能源技术研究院有限公司 | Floating fan and damping pool platform structure thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20170037832A1 (en) | 2017-02-09 |
| WO2015158348A1 (en) | 2015-10-22 |
| EP3132139A1 (en) | 2017-02-22 |
| JP2017515033A (en) | 2017-06-08 |
| CN106460790B (en) | 2019-02-01 |
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